SYSTEMS AND METHODS FOR ESTIMATING LATERAL VELOCITY OF A VEHICLE

Systems and methods for controlling a vehicle. The systems and methods receive static object detection data from a perception system. The static object detection data includes a first representation of a static object at a current time and a second representation of the static object at an earlier time. The systems and methods receive vehicle dynamics measurement data from the sensor system, determine a current position of the static object based on the first representation of the static object, predict an expected position of the static object at the current time using the second representation of the static object at the earlier time, a motion model and the vehicle dynamics measurement data, estimate a lateral velocity of the vehicle based on a disparity between the current position and the expected position, and control the vehicle using the lateral velocity